/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2025 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "i2c.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "oled.h"
#include "IIC.h"
#include "inv_mpu.h"
#include "inv_mpu_dmp_motion_driver.h"
#include "mpu6050.h"
#include "voice.h"
#include "motor.h"
#include "stdio.h"
#include "stm32f1xx_hal.h"
#include "tim.h"
#include "encoder.h"
#include "usart.h"
#include "PID.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */

uint8_t Display_Buffer[20];
uint32_t sys_tick;
extern float distance;
extern uint8_t Rx_Buffer[2];
extern float pitch,roll,yaw;
extern int Encoder_Left,Encoder_Right;
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
void Read();
/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{

  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_I2C1_Init();
  MX_TIM3_Init();
  MX_TIM1_Init();
  MX_TIM2_Init();
  MX_USART3_UART_Init();
  /* USER CODE BEGIN 2 */
  OLED_Init();
  OLED_Clear();
//  MPU_Init();
//  mpu_dmp_init();
  OLED_ShowString(0,0,"Init Success",16);
  HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_1);
  HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_4);
  HAL_TIM_Encoder_Start(&htim2,TIM_CHANNEL_ALL);
//  HAL_TIM_Encoder_Start(&htim4,TIM_CHANNEL_ALL);
//  HAL_UART_Receive_IT(&huart3,Rx_Buffer,1);
  Load(0,0);//右motor1左motor2
  HAL_UART_Transmit(&huart3,"Hello world\r\n",13,1000);
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
	Read();
//	sprintf((char *)Display_Buffer,"En_L:%d   ",Encoder_Left);
//	OLED_ShowString(0,2,Display_Buffer,16);  
//	sprintf((char *)Display_Buffer,"En_R:%d   ",Encoder_Right);
//	OLED_ShowString(0,4,Display_Buffer,16);  

	HAL_Delay(10);
//	mpu_dmp_get_data(&pitch,&roll,&yaw);
//  sprintf((char *)Display_Buffer,"pitch:%.2f   ",pitch);
//	OLED_ShowString(0,2,Display_Buffer,16);  
	sprintf((char *)Display_Buffer,"roll:%.2f   ",roll);
	OLED_ShowString(0,2,Display_Buffer,16);
	HAL_UART_Transmit(&huart3,Display_Buffer,sizeof(Display_Buffer),1000);
	GET_Distance();
	sprintf((char *)Display_Buffer,"distance:%.2f   ",distance);
	OLED_ShowString(0,4,Display_Buffer,12);
//	sprintf((char *)Display_Buffer,"yaw:%.2f   ",yaw);
//	OLED_ShowString(0,6,Display_Buffer,16);
	
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */
void Read()
{
	if(uwTick-sys_tick<10)
	return;
	sys_tick=uwTick;//10ms
	Encoder_Left=Read_Speed(&htim2);
//	Encoder_Right=-Read_Speed(&htim4);
}
/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
	  
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
